Trajectory Tracking Control Design for Dual-Arm Robots Using Dynamic Surface Controller

This paper presents a dynamic surface controller (DSC) for dual-arm robots (DAR) tracking desired trajectories. The DSC algorithm is based on backstepping technique and multiple sliding surface control principle, but with an important addition. In the design of DSC, low-pass filters are included which prevent the complexity in computing due to the “explosion of terms”, i.e. the number of terms in the control law rapidly gets out of hand. Therefore, a controller constructed from this algorithm is simulated on a four degrees of freedom (DOF) dual-arm robot with a complex kinetic dynamic model. Moreover, the stability of the control system is proved by using Lyapunov theory. The simulation results show the effectiveness of the controller which provide precise tracking performance of the manipulator

Combining synergetic control and super twisting algorithm to reduce the active power undulations of doubly fed induction generator for dual-rotor wind turbine system

Aim. This work presents the amelioration of direct power control using synergetic-super twisting algorithms for asynchronous generators integrated into dual-rotor wind turbine systems. Method. The main role of the direct power control is to control the active and reactive powers and reduce the harmonic distortion of stator current of asynchronous generator for variable speed dual-rotor wind turbine systems. The traditional strategy is more attractive due to its high efficiency and simple algorithm. Super twisting algorithms are a non-linear command strategy; characterized by robustness against the parameters change or disturbances, it gives a good power quality under different conditions such as changing generator parameters. Novelty. Synergetic-super twisting algorithms are designed. Synergetic-super twisting algorithms construction is based on synergetic command and super twisting algorithms in order to obtain a robust control strategy and a fast system with acceptable precision. We use in our study a 1.5 MW asynchronous generator integrated to dual-rotor wind turbine system in order to regulate the active and reactive powers. Results. As shown in the results figures using synergetic-super twisting algorithms the ameliorate performances especially minimizes the torque, active and reactive power undulations, and reduces harmonic distortion of stator current (THD = 0.19 %) compared to traditional strategy.Мета. Робота представляє вдосконалення безпосереднього регулювання потужності за допомогою синергетичих алгоритмів супер-скручування для асинхронних генераторів, інтегрованих у системи вітряних генераторів з подвійним ротором. Метод. Основна роль безпосереднього регулювання потужності полягає у керуванні активною та реактивною потужностями та зменшенні гармонічних спотворень струму статора асинхронного генератора для вітряних генераторів з подвійним ротором зі змінною швидкістю обертання. Традиційна стратегія є більш привабливою завдяки її високій ефективності та простому алгоритму. Алгоритми супер-скручування – це нелінійна командна стратегія; характеризується стійкістю до зміни параметрів або порушень, це забезпечує хорошу якість енергії в різних умовах, таких як зміна параметрів генератора. Новизна. Розроблені синергетичні алгоритми супер-скручування. Побудова алгоритмів синергетичного супер-скручування базується на алгоритмах синергетичних команд та супер-скручування, для того щоб отримати надійну стратегію керування та швидку систему з прийнятною точністю. У нашому дослідженні ми використовуємо асинхронний генератор потужністю 1,5 МВт, інтегрований в систему вітряних турбін з подвійним ротором для регулювання активної та реактивної потужностей. Результати. Як показано на рисунках з результатами, із використанням алгоритмів синергетичного супер-скручування, покращені характеристики особливо мінімізують крутний момент, коливання активної та реактивної потужності та зменшують гармонічні спотворення струму статора (THD = 0,19%) порівняно з традиційною стратегією

The 1st International Conference on Computational Engineering and Intelligent Systems

Computational engineering, artificial intelligence and smart systems constitute a hot multidisciplinary topic contrasting computer science, engineering and applied mathematics that created a variety of fascinating intelligent systems. Computational engineering encloses fundamental engineering and science blended with the advanced knowledge of mathematics, algorithms and computer languages. It is concerned with the modeling and simulation of complex systems and data processing methods. Computing and artificial intelligence lead to smart systems that are advanced machines designed to fulfill certain specifications. This proceedings book is a collection of papers presented at the first International Conference on Computational Engineering and Intelligent Systems (ICCEIS2021), held online in the period December 10-12, 2021. The collection offers a wide scope of engineering topics, including smart grids, intelligent control, artificial intelligence, optimization, microelectronics and telecommunication systems. The contributions included in this book are of high quality, present details concerning the topics in a succinct way, and can be used as excellent reference and support for readers regarding the field of computational engineering, artificial intelligence and smart system

Design and Control of Electrical Motor Drives

Dear Colleagues, I am very happy to have this Special Issue of the journal Energies on the topic of Design and Control of Electrical Motor Drives published. Electrical motor drives are widely used in the industry, automation, transportation, and home appliances. Indeed, rolling mills, machine tools, high-speed trains, subway systems, elevators, electric vehicles, air conditioners, all depend on electrical motor drives.However, the production of effective and practical motors and drives requires flexibility in the regulation of current, torque, flux, acceleration, position, and speed. Without proper modeling, drive, and control, these motor drive systems cannot function effectively.To address these issues, we need to focus on the design, modeling, drive, and control of different types of motors, such as induction motors, permanent magnet synchronous motors, brushless DC motors, DC motors, synchronous reluctance motors, switched reluctance motors, flux-switching motors, linear motors, and step motors.Therefore, relevant research topics in this field of study include modeling electrical motor drives, both in transient and in steady-state, and designing control methods based on novel control strategies (e.g., PI controllers, fuzzy logic controllers, neural network controllers, predictive controllers, adaptive controllers, nonlinear controllers, etc.), with particular attention to transient responses, load disturbances, fault tolerance, and multi-motor drive techniques. This Special Issue include original contributions regarding recent developments and ideas in motor design, motor drive, and motor control. The topics include motor design, field-oriented control, torque control, reliability improvement, advanced controllers for motor drive systems, DSP-based sensorless motor drive systems, high-performance motor drive systems, high-efficiency motor drive systems, and practical applications of motor drive systems. I want to sincerely thank authors, reviewers, and staff members for their time and efforts. Prof. Dr. Tian-Hua Liu Guest Edito

Adaptive fuzzy sliding mode command-filtered backstepping control for islanded PV microgrid with energy storage system

This study focuses on the control of islanded photovoltaic (PV) microgrid and design of a controller for PV system. Because the system operates in islanded mode, the reference voltage and frequency of AC bus are provided by the energy storage system. We mainly designed the controller for PV system in this study, and the control objective is to control the DC bus voltage and output current of PV system. First, a mathematical model of the PV system was set up. In the design of PV system controller, command-filtered backstepping control method was used to construct the virtual controller, and the final controller was designed by using sliding mode control. Considering the uncertainty of circuit parameters in the mathematical model and the unmodeled part of PV system, we have integrated adaptive control in the controller to achieve the on-line identification of component parameters of PV system. Moreover, fuzzy control was used to approximate the unmodeled part of the system. In addition, the projection operator guarantees the boundedness of adaptive estimation. Finally, the control effect of designed controller was verified by MATLAB/Simulink software. By comparing with the control results of proportion-integral (PI) and other controllers, the advanced design of controller was verified